CN216153863U

CN216153863U - Motion chassis and robot

Info

Publication number: CN216153863U
Application number: CN202121542336.2U
Authority: CN
Inventors: 庄义杰
Original assignee: Goertek Inc
Current assignee: Goertek Inc
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2022-04-01
Anticipated expiration: 2031-07-06

Abstract

The embodiment of the application discloses a motion chassis and a robot, wherein the motion chassis comprises a chassis main body, an installation bin, a driving device, a sound absorption sleeve and a driving wheel set; the mounting bin is fixed on the chassis main body, and the driving device is arranged in the mounting bin; the sound-absorbing sleeve is sleeved outside the driving device; the driving wheel set is mounted on an output shaft of the driving device. The technical effect of this application embodiment lies in, structural design is very reasonable, and convenient to use can follow the production of noise and two aspects of propagation path noise reduction, and noise cancelling effect is better.

Description

Motion chassis and robot

Technical Field

The application belongs to the technical field of robots, and particularly relates to a motion chassis and a robot.

Background

A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

The current wheel type mobile robot drives a motion wheel set through a motor so as to drive a motion chassis to bear the motion of the whole robot. However, when the robot moves, turns, climbs a slope or crosses an obstacle, the other matching parts generate large noise due to the high-speed operation of the motor and the vibration of the chassis. The larger the volume of the robot is, the larger the power of the adopted motor is, the larger the vibration of the matched part and the inner sound cavity are, and the phenomenon is more obvious.

Therefore, the current robot has the problem of loud noise during movement.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a new technical scheme of a motion chassis and a robot.

According to a first aspect of the application, there is provided a sports chassis comprising:

a chassis main body;

the mounting bin is fixed on the chassis main body, and the driving device is arranged in the mounting bin;

the sound-absorbing sleeve is sleeved outside the driving device;

and the driving wheel set is arranged on an output shaft of the driving device.

Optionally, the chassis further comprises a driven wheel set, the driven wheel set is mounted at the bottom of the chassis main body, and the driven wheel set is rotatably connected with the chassis main body;

and a preset height difference is formed between the driving wheel set and the driven wheel set.

Optionally, the driving wheel set includes a plurality of driving wheels, each driving wheel includes a hard rubber main body and a soft rubber wheel sleeve, and the soft rubber wheel sleeve is wrapped on the outer side of the hard rubber main body.

Optionally, the outer surface of the ebonite main body is provided with a groove, the soft rubber wheel sleeve is correspondingly provided with a bulge, and the bulge is correspondingly embedded in the groove.

Optionally, the driving device is a planetary gear reduction motor, the planetary gear reduction motor comprises a flat key rotating shaft, the hard rubber main body is provided with a waist-shaped hole, the flat key rotating shaft is installed in the waist-shaped hole, and the flat key rotating shaft is fixedly connected with the hard rubber main body.

Optionally, the chassis further comprises a damping spring, the damping spring and the installation bin are arranged inside the chassis main body, the damping spring is located above the installation bin, one end of the damping spring is connected with the installation bin, and the other end of the damping spring is connected with the chassis main body.

Optionally, the damping spring is a conical spring, and a diameter of one end of the damping spring close to the mounting bin is larger than a diameter of one end of the damping spring close to the chassis main body.

Optionally, the top of the installation bin is provided with an annular positioning groove, and the damping spring is arranged in the annular positioning groove.

Optionally, the height of the annular positioning groove is greater than one third of the height of the damper spring.

Optionally, the moving chassis further comprises a fixing pressing block, and the mounting bin is fixed to the chassis main body through the fixing pressing block.

Optionally, the motion chassis further comprises a sealing rubber ring and a connecting piece,

the driving device comprises two motors arranged side by side, and the two motors are connected through the connecting piece; the sound-absorbing sleeve is cylindrical and covers the outer surfaces of the two motors;

the mounting bin is provided with a first wire outlet, the chassis main body is provided with a second wire outlet, and the first wire outlet and the second wire outlet both correspond to the connecting piece in position;

the sealing rubber ring is attached to the second wire outlet.

According to a second aspect of the application, a robot is provided, comprising a motion chassis as described above.

One technical effect of the embodiment of the application is as follows: firstly, the driving device is arranged in the installation bin, so that noise generated when the driving device operates is sealed in a cavity of the installation bin, and the transmission of the noise is reduced, so that the noise generated when the motion chassis moves is well reduced; secondly, the sound-absorbing sleeve is sleeved outside the driving device, so that the sound-absorbing sleeve can greatly absorb noise generated by the driving device, reduce the transmission of the noise and further contribute to reducing the noise generated by the moving chassis.

Therefore, the moving chassis and the robot can reduce noise from two aspects of noise generation and transmission paths, and the noise reduction effect is good.

Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram of a chassis main body according to an embodiment of the present disclosure;

fig. 2 is an exploded view of a chassis body according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of another perspective view of a chassis body according to an embodiment of the present disclosure;

FIG. 4 is a bottom view of the chassis body provided by an embodiment of the present application;

FIG. 5 is a schematic cross-sectional view A-A of FIG. 4;

FIG. 6 is a schematic cross-sectional view taken along line B-B of FIG. 4;

fig. 7 is an exploded view of the installation bin and the driving device of the chassis main body according to the embodiment of the present application;

fig. 8 is a cross-sectional view of a drive wheel of a chassis body according to an embodiment of the present disclosure.

In the figure: 1. a chassis main body; 101. a second outlet; 2. installing a bin; 21. a first outlet port; 3. a drive device; 4. a sound absorbing sleeve; 5. a driving wheel set; 51. a hard rubber body; 52. a soft rubber wheel sleeve; 6. a driven wheel set; 7. a damping spring; 8. an annular positioning groove; 9. fixing a pressing block; 10. sealing the rubber ring; 11. a battery; 12. a battery cover; 13. a battery compartment; 14. a connecting member.

Detailed Description

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

As shown in fig. 1 to 8, the present embodiment provides a motion chassis, which is applied to a robot and is used as a motion chassis of the robot to drive the whole robot to move.

As shown in fig. 1, 2 and 7, the sports chassis includes a chassis main body 1, a mounting bin 2, a driving device 3, a sound-absorbing cover 4 and a driving wheel set 5. Optionally, the motion chassis further comprises a driven wheel set 6. The driving wheel set 5 and the driven wheel set 6 drive the motion chassis to move together.

Specifically, the installation bin 2 is fixed to the chassis main body 1, and the driving device 3 is disposed in the installation bin 2. The installation bin 2 forms a closed space, and the driving device 3 is arranged in the installation bin 2, so that the transmission of noise is reduced, and the noise generated by the driving device 3 is reduced. The sound absorption sleeve 4 is sleeved outside the driving device 3. The driving wheel set 5 is installed on an output shaft of the driving device 3, and the driving device 3 is used for driving the driving wheel set 5 to rotate so as to drive the motion chassis to move. The driven wheel set 6 is arranged at the bottom of the chassis main body 1, and the driven wheel set 6 is rotatably connected with the chassis main body 1. The driven wheel set 6 is fixed on the chassis main body 1 through screws.

In one embodiment, the sound-absorbing cover 4 is made of fluororubber foam rubber, which has a good sound-absorbing effect. Inhale sound cover 4 and be cylindric, drive arrangement 3 includes two motors that set up side by side, and cylindric sound cover 4 of inhaling can wrap up drive arrangement 3 is whole.

The preset height difference is formed between the driving wheel set 5 and the driven wheel set 6, so that when the robot crosses an obstacle, the driving wheel set 5 and the driven wheel set 6 can be better matched to be attached to the ground, the generation of noise is reduced, and the noise generated when the chassis moves is effectively reduced.

In one embodiment, the driven wheel set 6 includes a plurality of driven wheels, for example, the number of the driven wheels is 4, and the driving wheel set 5 includes two driving wheels. Driven wheelset 6 is modular design, can change different driven wheels according to specific demands. However, it should be noted that the corresponding relationship between the driving wheel and the driven wheel needs to ensure that the height difference between the replaced driving wheel and the replaced driven wheel reaches the preset height difference.

In this embodiment, the structure design of this motion chassis ground is very reasonable, and convenient to use can reduce the noise from two aspects of the production of noise and transmission route, and noise cancelling effect is better.

Optionally, the driving wheel set 5 includes a plurality of driving wheels, each driving wheel includes a hard rubber main body 51 and a soft rubber wheel sleeve 52, and the soft rubber wheel sleeve 52 is wrapped on the outer side of the hard rubber main body 51. The soft rubber wheel sleeve 52 is detachably connected with the hard rubber main body 51, the disassembly is very convenient, and the soft rubber wheel sleeve 52 is in contact with the ground to well reduce the noise generated when the driving wheel moves.

Optionally, a groove is formed in the outer surface of the hard rubber main body 51, a protrusion is correspondingly formed on the soft rubber wheel sleeve 52, and the protrusion is correspondingly embedded in the groove. This enables the soft rubber wheel cover 52 to be stably fixed to the hard rubber main body 51.

In the present embodiment, the driving wheel is formed by assembling a hard rubber body 51 and a soft rubber wheel sleeve 52, as shown in fig. 8. The bulges are correspondingly embedded in the grooves, so that the fixed connection between the bulges and the grooves is very simple. The hard rubber main body 51 and the soft rubber wheel sleeve 52 are provided with a reserved gap during assembly. The soft rubber wheel sleeve 52 with different tooth heights can be replaced according to different ground and actual requirements, and the hardness of the material can be replaced to meet the requirement of the low noise standard of the motion chassis. For example, in an application scenario, if the robot generates sharp friction sound with the ground when working, the soft rubber sleeve wheel with larger tooth height or the soft rubber sleeve wheel with softer material can be replaced at this time to reduce the friction sound between the driving wheel and the ground.

In an embodiment, if the noise effect of the application scene fixing or moving chassis after debugging meets the requirement, glue can be applied to the matching surfaces of the hard rubber body 51 and the soft rubber wheel sleeve 52 to achieve the fixing effect of the hard rubber body 51 and the soft rubber wheel sleeve 52 when the hard rubber body 51 and the soft rubber wheel sleeve 52 are assembled.

Optionally, the driving device 3 is a planetary gear reduction motor, the planetary gear reduction motor includes a flat key rotating shaft, the hard rubber main body 51 is provided with a kidney-shaped hole, the flat key rotating shaft is installed in the kidney-shaped hole, and the flat key rotating shaft is fixedly connected with the hard rubber main body 51. This makes the connection of the driving device 3 to the driving wheel set 5 very simple and also facilitates the stable driving of the driving wheel set 5 by the driving device 3.

In the present embodiment, the hard glue body 51 has a clearance area. The driving wheel is fixed on the rotating shaft of the driving device 3 through screws: so that the driving wheel set 5 and the driving device 3 realize synchronous transmission of rotation. Meanwhile, the mounting bin 2 extends into the void avoiding area of the hard glue main body 51 in the lateral direction.

Optionally, still include damping spring 7, damping spring 7 and installation storehouse 2 all set up in the inside of chassis main part 1, and damping spring 7 is located the top of installation storehouse 2, and damping spring 7's one end is connected with installation storehouse 2, and the other end is connected with chassis main part 1. The damping spring 7 can further absorb noise generated by the motion chassis during motion.

Alternatively, the damper spring 7 is a conical spring, and a diameter of an end of the damper spring 7 near the mounting bin 2 is larger than a diameter of an end of the damper spring 7 near the chassis main body 1. In one embodiment, the number of the damper springs 7 is two.

In the present embodiment, the damping spring 7 is made of a modulation spring, and the purpose of the conical spring is to absorb the rebound force of the motion chassis during vibration, so that the vibration change of the motion chassis tends to be gentle, and the motion chassis does not generate a sharp change of force to cause a loud noise.

Alternatively, as shown in fig. 5, the top of the installation bin 2 is provided with an annular positioning groove 8, and the damping spring 7 is arranged in the annular positioning groove 8. The annular positioning groove 8 facilitates the installation of the spring.

Alternatively, the height of the annular positioning groove 8 is greater than one third of the height of the damper spring 7. This helps to ensure stability of the motion chassis.

In this embodiment, the height of the annular detent exceeds one-third of the compressed height of the spring. The elastic force provided by the spring is approximately equal to the self weight of the robot, so that the damping spring 7 provides a damping force close to the self weight of the robot at the moment that the robot surmounts the ground, thereby well reducing the noise generated when the robot lands.

Optionally, the moving chassis further comprises a fixing pressing block 9, and the installation bin 2 is fixed to the chassis main body 1 through the fixing pressing block 9. The fixing pressing block 9 can firmly fix the mounting bin 2 on the chassis main body 1, and the fixing mode is simpler.

In this embodiment, the moving chassis further includes a battery 11, a battery compartment 13 and a battery cover 12, the battery 11 is installed in the battery compartment 13, and the battery cover 12 covers the installation opening of the battery compartment 13. The chassis main body 1 is provided with a battery compartment 13, the battery 11 is installed in the battery compartment 13, and the battery cover 12 is fixed on the chassis main body 1 by screws.

Be provided with the slip muscle position on the installation storehouse 2, correspond on the chassis main part 1 and be provided with the guide way, slip muscle position and guide way cooperation to there is spacingly in vertical direction, this makes the installation of installation storehouse 2 very simple quick.

Optionally, as shown in fig. 5 and 7, the motion chassis further comprises a seal rubber ring 10 and a connecting piece 14; the driving device 3 comprises two motors arranged side by side, and the two motors are connected through a connecting piece 14; the sound-absorbing sleeve 4 is cylindrical, and the sound-absorbing sleeve 4 covers the outer surfaces of the two motors, so that the sound-absorbing sleeve 4 is attached to the driving device 3, and noise generated by the driving device 3 is effectively absorbed.

In this embodiment, the installation bin 2 is cylindrical, and the cylindrical installation bin 2 is sleeved outside the sound absorption sleeve 4, so that the driving device 3 is conveniently sealed inside the installation bin 2.

As shown in fig. 5, the mounting bin 2 is provided with a first outlet 21, the chassis body 1 is provided with a second outlet 101, and the first outlet 21 and the second outlet 101 both correspond to the position of the connecting member 14. The sealing rubber ring sticker 10 is arranged at the second wire outlet 101. The first outlet 21 and the second outlet 101 facilitate leading out a connecting line of the driving device 3 to the outside of the chassis main body 1 to achieve electrical connection with other structures of the robot.

The sealing rubber gasket 10 is used for sealing the sound generated by the driving device 3 in the mounting bin 2 positioned inside the chassis main body 1, and simultaneously realizes the shock absorption and buffering effects by matching with other components in the moving process.

In this embodiment, the chassis body 1 is provided with a second outlet, a connection line between the driving device 3 and the battery 11 passes through the second outlet 101 and is connected to the upper computer control board through a plug, and the sealing rubber gasket 10 is used for sealing the second outlet 101.

One technical effect of the embodiment of the application is as follows: firstly, the driving device 3 is arranged in the installation bin 2, so that noise generated when the driving device 3 operates is sealed in a cavity of the installation bin 2, and the transmission of the noise is reduced, so that the noise generated when the motion chassis moves is well reduced; secondly, the sound-absorbing sleeve 4 is sleeved outside the driving device 3, so that the sound-absorbing sleeve 4 can greatly absorb noise generated by the driving device 3, reduce the transmission of the noise and contribute to further reducing the noise generated by the moving chassis; thirdly, a preset height difference is formed between the driving wheel set 5 and the driven wheel set 6, so that when the robot crosses an obstacle, the driving wheel set 5 and the driven wheel set 6 can be better matched to be attached to the ground, noise is reduced, and noise generated by the chassis during movement is effectively reduced.

Optionally, the robot comprises a motion chassis as described above. The robot provided by the embodiment can greatly reduce noise during movement, and has a good use effect.

Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present application. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present application. The scope of the application is defined by the appended claims.

Claims

1. A sports chassis, comprising:

a chassis main body;

the sound-absorbing sleeve is sleeved outside the driving device;

and the driving wheel set is arranged on an output shaft of the driving device.

2. The motion chassis of claim 1, further comprising:

the driven wheel set is mounted at the bottom of the chassis main body and is in rotating connection with the chassis main body;

3. The motion chassis of claim 1,

the driving wheel set comprises a plurality of driving wheels, each driving wheel comprises a hard rubber main body and a soft rubber wheel sleeve, and the soft rubber wheel sleeve is coated on the outer side of the hard rubber main body.

4. The sports chassis of claim 3, wherein the hard rubber main body is provided with a groove on the outer surface, the soft rubber wheel sleeve is correspondingly provided with a protrusion, and the protrusion is correspondingly embedded in the groove.

5. The motion chassis of claim 1, further comprising a shock absorbing spring,

damping spring with the installation storehouse all set up in the inside of chassis main part, just damping spring is located the top in installation storehouse, damping spring's one end with the installation storehouse is connected, the other end with the chassis main part is connected.

6. The motion chassis of claim 5, wherein the shock absorbing spring is a conical spring and a diameter of an end of the shock absorbing spring proximate to a mounting bin is greater than a diameter of an end of the shock absorbing spring proximate to the chassis body.

7. The motion chassis of claim 5, wherein the top of the mounting bin is provided with an annular locating slot in which the dampening spring is disposed; the height of the annular positioning groove is greater than one third of the height of the damping spring.

8. The motion chassis of claim 1, further comprising a securing press by which the mounting cartridge is secured to the chassis body.

9. The motion chassis of claim 1, further comprising a sealing rubber ring and a connector,

the sealing rubber ring is attached to the second wire outlet.

10. A robot, comprising:

the sports chassis of any one of claims 1 to 9.